<HTML> 
<HEAD> 
	<TITLE>3rd Party ROBOTC Drivers</TITLE> 
<link href="tabs.css" rel="stylesheet" type="text/css"/> 
<link href="doxygen.css" rel="stylesheet" type="text/css"/> 
</HEAD> 
 
<BODY bgcolor="#ffffff" link="#000000" vlink="#000000"> 
<table width="100%" bgcolor="navy" cellspacing=0 cellpadding=1 border=0> 
<tr><td><table width="100%" bgcolor="#EEEEDD" cellspacing=0 cellpadding=3 border=0> 
<tr> 
    <td width="33%" align="left"> <img src="images/LOGO_NXT.gif" width=266 height=44 border="0" alt="Mindstorms"></td> 
    <td><b><font size="+3" color="navy">3rd Party ROBOTC Drivers</font></b></td> 
    <td align="right"> <img src="images/logo.png" width=44 height=44 border="0" alt="RobotC"></td>     
</tr> 
  <tr bgcolor="#cccc99" align="right"> 
          <td colspan=3> <font face="arial" size="-1"> [<a href=main.html>Home</a>] [<a target=_top href="https://sourceforge.net/projects/rdpartyrobotcdr/">Download</a>] [<a target=_top href="http://apps.sourceforge.net/mantisbt/rdpartyrobotcdr/my_view_page.php">Submit a bug/suggestion</a>]  [<a target=_top href="http://www.robotc.net/forums/">ROBOTC Forums</a>] [<a target=_top href="http://botbench.com">Blog</a>] [<a target=_top href="http://sourceforge.net/donate/index.php?group_id=257238">Support this project</a>]</font> </td> 
</tr> 
</table></td></tr> 
</table> 
<!-- Generated by Doxygen 1.7.2 -->
<div class="header">
  <div class="headertitle">
<h1>mindsensors-rcxsensorsmux.h</h1>  </div>
</div>
<div class="contents">
<a href="mindsensors-rcxsensorsmux_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup msrmux RCX Sensor MUX</span>
<a name="l00004"></a>00004 <span class="comment"> * RCX Sensor MUX</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-rcxsensorsmux.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 <span class="comment"></span>
<a name="l00012"></a>00012 <span class="comment">/** \file mindsensors-rcxsensorsmux.h</span>
<a name="l00013"></a>00013 <span class="comment"> * \brief Mindsensors MSRXMUX RCX Sensor MUX Sensor driver</span>
<a name="l00014"></a>00014 <span class="comment"> *</span>
<a name="l00015"></a>00015 <span class="comment"> * mindsensors-rcxsensorsmux.h provides an API for the Mindsensors MSRXMUX RCX Sensor MUX Sensor</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * Changelog:</span>
<a name="l00018"></a>00018 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> * Credits:</span>
<a name="l00021"></a>00021 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00022"></a>00022 <span class="comment"> *</span>
<a name="l00023"></a>00023 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00026"></a>00026 <span class="comment"></span>
<a name="l00027"></a>00027 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00028"></a>00028 <span class="comment"> * \date 30 August 2009</span>
<a name="l00029"></a>00029 <span class="comment"> * \version 0.1</span>
<a name="l00030"></a>00030 <span class="comment"> * \example mindsensors-rcxsensorsmux-test1.c</span>
<a name="l00031"></a>00031 <span class="comment"> */</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="preprocessor">#pragma systemFile</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span>
<a name="l00035"></a>00035 <span class="preprocessor">#ifndef __MSRXMUX_H__</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define __MSRXMUX_H__</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#endif</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a><a class="code" href="group__msrmux.html#gae6c250a3b51c81b4a492c185b0b6c84e">00042</a> <span class="preprocessor">#define MSRXMUX_I2C_ADDR  0x7E      </span><span class="comment">/*!&lt; I2C address for sensor */</span>
<a name="l00043"></a><a class="code" href="group__msrmux.html#ga97fdba20db66c0bf2d1d9ea818855511">00043</a> <span class="preprocessor">#define MSRXMUX_CHAN1     0xFE      </span><span class="comment">/*!&lt; Select MUX channel 1 */</span>
<a name="l00044"></a><a class="code" href="group__msrmux.html#ga44902a5e6d7916c863ff72be85a14373">00044</a> <span class="preprocessor">#define MSRXMUX_CHAN2     0xFD      </span><span class="comment">/*!&lt; Select MUX channel 2 */</span>
<a name="l00045"></a><a class="code" href="group__msrmux.html#gaf12c750cfcef6d01899986ed0d7c265d">00045</a> <span class="preprocessor">#define MSRXMUX_CHAN3     0xFB      </span><span class="comment">/*!&lt; Select MUX channel 3 */</span>
<a name="l00046"></a><a class="code" href="group__msrmux.html#ga7e6bcac120de7551331478bd3daf6c43">00046</a> <span class="preprocessor">#define MSRXMUX_CHAN4     0xF7      </span><span class="comment">/*!&lt; Select MUX channel 4 */</span>
<a name="l00047"></a><a class="code" href="group__msrmux.html#ga4aab7a3bd14f65bd245788ecbce5eb8c">00047</a> <span class="preprocessor">#define MSRXMUX_NONE      0xFF      </span><span class="comment">/*!&lt; Deselect all MUX channels */</span>
<a name="l00048"></a>00048 
<a name="l00049"></a><a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">00049</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>;       <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00050"></a>00050 
<a name="l00051"></a><a class="code" href="group__msrmux.html#ga03f69005db0b4f1eb3721804909d6e9c">00051</a> TSensorTypes <a class="code" href="group__msrmux.html#ga03f69005db0b4f1eb3721804909d6e9c">RCXSensorTypes</a>[4][4] = {{sensorNone, sensorNone, sensorNone, sensorNone},
<a name="l00052"></a>00052                                      {sensorNone, sensorNone, sensorNone, sensorNone},
<a name="l00053"></a>00053                                      {sensorNone, sensorNone, sensorNone, sensorNone},
<a name="l00054"></a>00054                                      {sensorNone, sensorNone, sensorNone, sensorNone}};
<a name="l00055"></a><a class="code" href="group__msrmux.html#ga6db6cf6cd0016b3d6b924e336afb49d8">00055</a> TSensorModes <a class="code" href="group__msrmux.html#ga6db6cf6cd0016b3d6b924e336afb49d8">RCXSensorModes</a>[4][4] = {{modeRaw, modeRaw, modeRaw, modeRaw},
<a name="l00056"></a>00056                                      {modeRaw, modeRaw, modeRaw, modeRaw},
<a name="l00057"></a>00057                                      {modeRaw, modeRaw, modeRaw, modeRaw},
<a name="l00058"></a>00058                                      {modeRaw, modeRaw, modeRaw, modeRaw}};
<a name="l00059"></a><a class="code" href="group__msrmux.html#gad42777352210e71b331bc730b273c7c1">00059</a> ubyte <a class="code" href="group__msrmux.html#gad42777352210e71b331bc730b273c7c1">RCXSensorDelays</a>[4][4] =        {{0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment">/**</span>
<a name="l00062"></a>00062 <span class="comment"> * Send a direct command to the MUX sensor</span>
<a name="l00063"></a>00063 <span class="comment"> *</span>
<a name="l00064"></a>00064 <span class="comment"> * Note: this is an internal command and should not be called directly.</span>
<a name="l00065"></a>00065 <span class="comment"> * @param link the PFMate port number</span>
<a name="l00066"></a>00066 <span class="comment"> * @param chan the channel to be configured</span>
<a name="l00067"></a>00067 <span class="comment"> * @param chantype the sensor type connected to the channel</span>
<a name="l00068"></a>00068 <span class="comment"> * @param chanmode the sensor mode of the sensor</span>
<a name="l00069"></a>00069 <span class="comment"> * @param delay the initialisation delay time</span>
<a name="l00070"></a>00070 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a><a class="code" href="group__msrmux.html#ga3727094d4840da4268c8e9dbe9830e89">00072</a> <span class="keywordtype">void</span> <a class="code" href="group__msrmux.html#ga3727094d4840da4268c8e9dbe9830e89">MSRXMUXsetupChan</a>(tSensors link, ubyte chan, TSensorTypes chantype, TSensorModes chanmode, ubyte delay) {
<a name="l00073"></a>00073   <span class="keywordflow">if</span> (chan &lt; 1 || chan &gt; 4)
<a name="l00074"></a>00074     <span class="keywordflow">return</span>;
<a name="l00075"></a>00075 
<a name="l00076"></a>00076   <a class="code" href="group__msrmux.html#ga03f69005db0b4f1eb3721804909d6e9c">RCXSensorTypes</a>[link][chan-1] = chantype;
<a name="l00077"></a>00077   <a class="code" href="group__msrmux.html#ga6db6cf6cd0016b3d6b924e336afb49d8">RCXSensorModes</a>[link][chan-1] = chanmode;
<a name="l00078"></a>00078   <a class="code" href="group__msrmux.html#gad42777352210e71b331bc730b273c7c1">RCXSensorDelays</a>[link][chan-1] = delay;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 
<a name="l00081"></a><a class="code" href="group__msrmux.html#ga89d7741f1a1aee3279533ed2a6f37111">00081</a> <span class="keywordtype">int</span> <a class="code" href="group__msrmux.html#ga89d7741f1a1aee3279533ed2a6f37111">MSRXMUXreadChan</a>(tSensors link, byte chan) {
<a name="l00082"></a>00082   <span class="keywordflow">if</span> (SensorType[link] != sensorI2CCustom9V) {
<a name="l00083"></a>00083     SensorType[link] = sensorI2CCustom9V;
<a name="l00084"></a>00084     wait1Msec(3);
<a name="l00085"></a>00085   }
<a name="l00086"></a>00086 
<a name="l00087"></a>00087   <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>[0] = 2;
<a name="l00088"></a>00088   <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>[1] = <a class="code" href="group__msrmux.html#gae6c250a3b51c81b4a492c185b0b6c84e">MSRXMUX_I2C_ADDR</a>;
<a name="l00089"></a>00089   <span class="keywordflow">switch</span>(chan) {
<a name="l00090"></a>00090     <span class="keywordflow">case</span> 0: <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>[2] =  <a class="code" href="group__msrmux.html#ga4aab7a3bd14f65bd245788ecbce5eb8c">MSRXMUX_NONE</a>; <span class="keywordflow">break</span>;
<a name="l00091"></a>00091     <span class="keywordflow">case</span> 1: <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>[2] =  <a class="code" href="group__msrmux.html#ga97fdba20db66c0bf2d1d9ea818855511">MSRXMUX_CHAN1</a>; <span class="keywordflow">break</span>;
<a name="l00092"></a>00092     <span class="keywordflow">case</span> 2: <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>[2] =  <a class="code" href="group__msrmux.html#ga44902a5e6d7916c863ff72be85a14373">MSRXMUX_CHAN2</a>; <span class="keywordflow">break</span>;
<a name="l00093"></a>00093     <span class="keywordflow">case</span> 3: <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>[2] =  <a class="code" href="group__msrmux.html#gaf12c750cfcef6d01899986ed0d7c265d">MSRXMUX_CHAN3</a>; <span class="keywordflow">break</span>;
<a name="l00094"></a>00094     <span class="keywordflow">case</span> 4: <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>[2] =  <a class="code" href="group__msrmux.html#ga7e6bcac120de7551331478bd3daf6c43">MSRXMUX_CHAN4</a>; <span class="keywordflow">break</span>;
<a name="l00095"></a>00095     <span class="keywordflow">default</span>: <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>[2] =  <a class="code" href="group__msrmux.html#ga4aab7a3bd14f65bd245788ecbce5eb8c">MSRXMUX_NONE</a>;
<a name="l00096"></a>00096   }
<a name="l00097"></a>00097 
<a name="l00098"></a>00098   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msrmux.html#ga4a0f749a478d1028c48e7a2758b795f0">MSRXMUX_I2CRequest</a>))
<a name="l00099"></a>00099     <span class="keywordflow">return</span> -1;
<a name="l00100"></a>00100 
<a name="l00101"></a>00101   wait10Msec(3+<a class="code" href="group__msrmux.html#gad42777352210e71b331bc730b273c7c1">RCXSensorDelays</a>[link][chan-1]);
<a name="l00102"></a>00102   SensorType[link] = <a class="code" href="group__msrmux.html#ga03f69005db0b4f1eb3721804909d6e9c">RCXSensorTypes</a>[link][chan-1];
<a name="l00103"></a>00103   SensorMode[link] = <a class="code" href="group__msrmux.html#ga6db6cf6cd0016b3d6b924e336afb49d8">RCXSensorModes</a>[link][chan-1];
<a name="l00104"></a>00104   <span class="keywordflow">return</span>(SensorValue[link]);
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 
<a name="l00107"></a>00107 <span class="preprocessor">#endif // __MSRXMUX_H__</span>
<a name="l00108"></a>00108 <span class="preprocessor"></span>
<a name="l00109"></a>00109 <span class="comment">/*</span>
<a name="l00110"></a>00110 <span class="comment"> * $Id: mindsensors-rcxsensorsmux.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a>00112 <span class="comment">/* @} */</span>
<a name="l00113"></a>00113 <span class="comment">/* @} */</span>
</pre></div></div>
</div>
<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 13 2013 19:56:43 for ROBOTC Drivers by&#160;
<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.2 </small></address>
</body>
</html>
